ardupilot/libraries/AP_GPS/AP_GPS_Shim.h

48 lines
1.5 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
//
// Shim GPS driver, for use when the actual GPS data is coming from somewhere else.
// Code by Mike Smith
//
// This library is free software; you can redistribute it and / or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
//
//
#ifndef AP_GPS_Shim_h
#define AP_GPS_Shim_h
#include "GPS.h"
class AP_GPS_Shim : public GPS
{
public:
virtual void init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting = GPS_ENGINE_NONE) {
_port = s;
};
virtual bool read(void) {
bool updated = _updated;
_updated = false;
return updated;
}
/// Set-and-mark-updated macro for the public member variables; each instance
/// defines a member function set_<variable>(<type>)
///
#define __GPS_SHIM_SET(__type, __name) void set_ ## __name(__type v) { __name = v; _updated = true; }
__GPS_SHIM_SET(uint32_t, time);
__GPS_SHIM_SET(long, latitude);
__GPS_SHIM_SET(long, longitude);
__GPS_SHIM_SET(long, altitude);
__GPS_SHIM_SET(long, ground_speed);
__GPS_SHIM_SET(long, ground_course);
__GPS_SHIM_SET(long, speed_3d);
__GPS_SHIM_SET(int, hdop);
#undef __GPS_SHIM_SET
private:
bool _updated; ///< set anytime a member is updated, cleared when read() returns true
};
#endif // AP_GPS_HIL_H